// #include "headfile.h"
// #include "motor_ctrl.h"


// /*对三个环的PID设置，根据经验，我们选择角度用PD控制，速度用PI控制，方向用PD控制*/
// // PID_Struct PD_Angle = {1200,0,0,0,0,0,0,0.005};
// // PID_Struct PI_Speed = {0,0,0,0,0,0,0,0.005};
// // PID_Struct PD_Direct = {3000,0,50,0,0,0,0,0.005};

// float pwm_out_angle;
// // float pwm_out_speed,pwm_out_direct = 0;
// // float pwm_out_left, pwm_out_right;
// // int16 speed_left, speed_right, speed_avg;

// void motor_ctrl_exe(){
//     pwm_out_left = PID_Release(&PD_Angle, TARGET_ANGLE, icm_out_angle);
//     pwm_out_right=pwm_out_left;
    
// }   




